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Design of a Reference Governor in a Zonotopic Framework Applied to a Quadrotor under Feedback Linearization Control Strategies

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Abstract

This work investigates the combination of different feedback linearization strategies with a reference governor scheme, i.e., a specific control scheme that enables the handling of constraint and limit protection, developed in a zonotopic framework. The zonotopic representation of the safe flight envelope is simple and computationally efficient for real-time implementation. The global scheme consisting of feedback linearization and reference governor ensures safe flight under disturbances and constraints, as illustrated with numerical tests using the Parrot Mambo simulator provided in the Mathworks Simulink environment. Discussions of trajectory tracking, input constraints and robustness to modeling uncertainties are included.

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Authors and Affiliations

  1. System, Estimation, Control and Optimization (SECO), University of Mons, Mons, 7000, Belgium

    Gilles Delansnay & Alain Vande Wouwer

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  1. Gilles Delansnay
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  2. Alain Vande Wouwer
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Both authors contributed to the conceptualization, methodology and investigation. The software implementation, data collection and analysis were performed by the first author. Both authors prepared the first draft of the manuscript

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Correspondence to Gilles Delansnay or Alain Vande Wouwer.

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Delansnay, G., Wouwer, A.V. Design of a Reference Governor in a Zonotopic Framework Applied to a Quadrotor under Feedback Linearization Control Strategies. J Intell Robot Syst 109, 7 (2023). https://doi.org/10.1007/s10846-023-01947-7

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